草莓采摘机器人成熟果实识别及避障控制系统研究——基于ARM与FPGA  

Research on the Recognition of Ripe Fruit of Strawberry Picking Robot Based on ARM and FPGA

作　　者：马瑛[1] 杨旭[1] 

机构地区：[1]河南工业职业技术学院,河南南阳473000

出　　处：《农机化研究》2017年第2期181-185,共5页Journal of Agricultural Mechanization Research

基　　金：河南省科技攻关项目(152102110161)

摘　　要：目前,草莓的采摘主要靠人工完成,任务繁重,效率较低,人为造成的损失也比较大,减少了果农的经济收入,也影响了草莓种植的发展。因此,研制草莓采摘机器人是解决人工采摘问题的关键。为此,大量研究了草莓种植的特点及人工采摘技巧,基于ARM与FPGA智能控制模块及双目机器视觉技术,设计了草莓采摘机器人成熟果实及避障控制系统。实验结果表明:所设计的草莓采摘机器人成熟果实识及避障控制系统可以准确识别成熟草莓果实,并能灵活避开采摘途径中的障碍物,系统运行稳定,对我国开展草莓采摘机器人果实识别和避障技术的研究具有一定的参考价值。At present, strawberry picking mainly rely on manual tasks, low efficiency, loss of man-made is relatively large, reducing the fruit of economic income, also influences the development of strawberry cultivation. Therefore, the production of strawberry picking robot is the key to solve the problem of artificial picking. In this paper, the characteris- tics of strawberry cultivation and the techniques of artificial picking, based on ARM and FPGA intelligent control module and binocular machine vision technology, were designed and studied. The experimental results show that the mature fruit of strawberry picking robot and the obstacle avoidance control system can accurately identify the mature strawberry fruit, and can avoid the obstacles in the process of picking.

关 键 词：草莓采摘机器人 机器视觉 果实定位 避障 ARM FPGA 

分 类 号：S225.93[农业科学—农业机械化工程] TP391.41[农业科学—农业工程]